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LAPTOP-SNT8I5JK\Boounion

2025-09-11 eaf39ceeef11c5685ddbb840541460e5dc5fccaa

 SourceCode/Bond/Servo/CWriteStep.cpp

@@ -55,6 +55,18 @@
      m_nWriteSignalDev = dev;
   }

   void CWriteStep::setRetDataDev(int dev, int size)
   {
      m_nReturnDevNo = dev;
      m_nReturnDataSize = size;
   }

   int CWriteStep::getReturnData(const char*& pszData)
   {
      pszData = m_szReturnBuf;
      return m_nReturnDataSize;
   }

   void CWriteStep::onRecvSignal(BOOL bSignal)
   {
      Lock();
@@ -89,9 +101,9 @@
            // 1.写数据
            nextStep();
            ASSERT(m_pCclink);
            int nRet = m_pCclink->WriteData(m_station, (short)DeviceType::W,
            int nWriteRet = m_pCclink->WriteData(m_station, (short)DeviceType::W,
               m_nWriteDevNo, m_nWriteDataSize, (short*)m_szBuffer);
            if (0 != nRet) {
            if (0 != nWriteRet) {
               onTimeout();
               goto RESET;
            }
@@ -99,23 +111,35 @@

            // 2.给对方写ON
            nextStep();
            m_pCclink->SetBitDevice(m_station, DeviceType::B, m_nWriteSignalDev);
            m_pCclink->SetBitDeviceEx(m_station, (long)DeviceType::B, m_nWriteSignalDev);


            // 3.等待对方ON
            nextStep();
            int nStep3Ret = ::WaitForSingleObject(m_hRecvSignalOn, TIMEOUT * 1000);
            if (nStep3Ret == WAIT_TIMEOUT) {
               m_pCclink->ResetBitDevice(m_station, DeviceType::B, m_nWriteSignalDev);
               m_pCclink->ResetBitDeviceEx(m_station, (long)DeviceType::B, m_nWriteSignalDev);
               onTimeout();
               goto RESET;
            }
            ResetEvent(m_hRecvSignalOn);


            // 3.9读数据，如果有
            if (m_nReturnDataSize > 0) {
               int nRet = m_pCclink->ReadData2(m_station, DeviceType::W, m_nReturnDevNo,
                  (long)min(READ_BUFFER_MAX, m_nReturnDataSize), m_szReturnBuf);
               if (0 != nRet) {
                  LOGI("<CEqReadStep>Read return data error.");
                  onReadRetDataError();
                  return -1;
               }
            }


            // 4.дOFF
            nextStep();
            m_pCclink->ResetBitDevice(m_station, DeviceType::B, m_nWriteSignalDev);
            m_pCclink->ResetBitDeviceEx(m_station, (long)DeviceType::B, m_nWriteSignalDev);


            // 6.完成
@@ -141,10 +165,11 @@
      CStep::getAttributeVector(attrubutes);
      std::string temp;

      unsigned int weight = 20;
      attrubutes.addAttribute(new CAttribute("Current Step",
         std::to_string(m_nCurStep).c_str(), ""));
         std::to_string(m_nCurStep).c_str(), "", weight++));
      attrubutes.addAttribute(new CAttribute("Signal Dev",
         ("W" + CToolUnits::toHexString(m_nWriteSignalDev, temp)).c_str(), ""));
         ("W" + CToolUnits::toHexString(m_nWriteSignalDev, temp)).c_str(), "", weight++));
   }

   void CWriteStep::init()
@@ -195,4 +220,9 @@
   {
      return 0;
   }

   int CWriteStep::onReadRetDataError()
   {
      return 0;
   }
}